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1998

Integrated Vision/Control System for Autonomous Planetary Rovers

8 years 11 months ago
Integrated Vision/Control System for Autonomous Planetary Rovers
Current NASA plans call for extended year-long, multikilometer treks for the 2003 and 2005 Mars missions. A much greater amount of rover autonomy is required compared to the recent Sojourner mission, where the rover stayed within a 50 meter radius of the Pathfinder lander. A 2005 mission prototype system of a Sample Return Rover (SRR1) is currently being field tested at the Jet Propulsion Laboratory in Pasadena, CA USA. BISMARC (Biologically Inspired System for Map-based Autonomous Rover Control) is a hybrid waveletlneural network based system that is capable of such autonomy. Previous simulations demonstrated that the system is capable of control for multiple rovers involved in a multiple cache recovery scenario. This robust behavior was obtained through the use of a free-flow hierarchy (FFH) as an action selection mechanism. A subsequent study extended BISMARC to include fault tolerance in the sensing and mechanical rover subsystems. The vision subsystem in the original BISMARC impl...
Terry Huntsberger, Toshiro Kubota, John Rose
Added 01 Nov 2010
Updated 01 Nov 2010
Type Conference
Year 1998
Where MVA
Authors Terry Huntsberger, Toshiro Kubota, John Rose
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